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📝 Put DELTA / SCARA / TPARA in all configs
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thinkyhead committed Jul 6, 2022
1 parent aacba43 commit ec06b30
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173 changes: 160 additions & 13 deletions config/default/Configuration.h
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*
* Advanced settings can be found in Configuration_adv.h
*/
#define CONFIGURATION_H_VERSION 02010000
#define CONFIGURATION_H_VERSION 02010100

//===========================================================================
//============================= Getting Started =============================
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* https://www.thingiverse.com/thing:1278865
*/

//===========================================================================
//========================== DELTA / SCARA / TPARA ==========================
//===========================================================================
//
// Download configurations from the link above and customize for your machine.
// Examples are located in config/examples/delta, .../SCARA, and .../TPARA.
//
//===========================================================================

// @section info

// Author info of this build printed to the host during boot and M115
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#define POLAR_SEGMENTS_PER_SECOND 5
#endif

// Enable for DELTA kinematics and configure below
//#define DELTA
#if ENABLED(DELTA)

// Make delta curves from many straight lines (linear interpolation).
// This is a trade-off between visible corners (not enough segments)
// and processor overload (too many expensive sqrt calls).
#define DELTA_SEGMENTS_PER_SECOND 200

// After homing move down to a height where XY movement is unconstrained
//#define DELTA_HOME_TO_SAFE_ZONE

// Delta calibration menu
// uncomment to add three points calibration menu option.
// See http://minow.blogspot.com/index.html#4918805519571907051
//#define DELTA_CALIBRATION_MENU

// uncomment to add G33 Delta Auto-Calibration (Enable EEPROM_SETTINGS to store results)
//#define DELTA_AUTO_CALIBRATION

// NOTE NB all values for DELTA_* values MUST be floating point, so always have a decimal point in them

#if ENABLED(DELTA_AUTO_CALIBRATION)
// set the default number of probe points : n*n (1 -> 7)
#define DELTA_CALIBRATION_DEFAULT_POINTS 4
#endif

#if EITHER(DELTA_AUTO_CALIBRATION, DELTA_CALIBRATION_MENU)
// Set the steprate for papertest probing
#define PROBE_MANUALLY_STEP 0.05 // (mm)
#endif

// Print surface diameter/2 minus unreachable space (avoid collisions with vertical towers).
#define DELTA_PRINTABLE_RADIUS 140.0 // (mm)

// Maximum reachable area
#define DELTA_MAX_RADIUS 140.0 // (mm)

// Center-to-center distance of the holes in the diagonal push rods.
#define DELTA_DIAGONAL_ROD 250.0 // (mm)

// Distance between bed and nozzle Z home position
#define DELTA_HEIGHT 250.00 // (mm) Get this value from G33 auto calibrate

#define DELTA_ENDSTOP_ADJ { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate

// Horizontal distance bridged by diagonal push rods when effector is centered.
#define DELTA_RADIUS 124.0 // (mm) Get this value from G33 auto calibrate

// Trim adjustments for individual towers
// tower angle corrections for X and Y tower / rotate XYZ so Z tower angle = 0
// measured in degrees anticlockwise looking from above the printer
#define DELTA_TOWER_ANGLE_TRIM { 0.0, 0.0, 0.0 } // Get these values from G33 auto calibrate

// Delta radius and diagonal rod adjustments (mm)
//#define DELTA_RADIUS_TRIM_TOWER { 0.0, 0.0, 0.0 }
//#define DELTA_DIAGONAL_ROD_TRIM_TOWER { 0.0, 0.0, 0.0 }
#endif

/**
* MORGAN_SCARA was developed by QHARLEY in South Africa in 2012-2013.
* Implemented and slightly reworked by JCERNY in June, 2014.
*
* Mostly Printed SCARA is an open source design by Tyler Williams. See:
* https://www.thingiverse.com/thing:2487048
* https://www.thingiverse.com/thing:1241491
*/
//#define MORGAN_SCARA
//#define MP_SCARA
#if EITHER(MORGAN_SCARA, MP_SCARA)
// If movement is choppy try lowering this value
#define SCARA_SEGMENTS_PER_SECOND 200

// Length of inner and outer support arms. Measure arm lengths precisely.
#define SCARA_LINKAGE_1 150 // (mm)
#define SCARA_LINKAGE_2 150 // (mm)

// SCARA tower offset (position of Tower relative to bed zero position)
// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
#define SCARA_OFFSET_X 100 // (mm)
#define SCARA_OFFSET_Y -56 // (mm)

#if ENABLED(MORGAN_SCARA)

//#define DEBUG_SCARA_KINEMATICS
#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly

// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)

#define THETA_HOMING_OFFSET 0 // Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
#define PSI_HOMING_OFFSET 0 // Calculated from Calibration Guide and M364 / M114. See http://reprap.harleystudio.co.za/?page_id=1073

#elif ENABLED(MP_SCARA)

#define SCARA_OFFSET_THETA1 12 // degrees
#define SCARA_OFFSET_THETA2 131 // degrees

#endif

#endif

// Enable for TPARA kinematics and configure below
//#define AXEL_TPARA
#if ENABLED(AXEL_TPARA)
#define DEBUG_ROBOT_KINEMATICS
#define ROBOT_SEGMENTS_PER_SECOND 200

// Length of inner and outer support arms. Measure arm lengths precisely.
#define ROBOT_LINKAGE_1 120 // (mm)
#define ROBOT_LINKAGE_2 120 // (mm)

// SCARA tower offset (position of Tower relative to bed zero position)
// This needs to be reasonably accurate as it defines the printbed position in the SCARA space.
#define ROBOT_OFFSET_X 0 // (mm)
#define ROBOT_OFFSET_Y 0 // (mm)
#define ROBOT_OFFSET_Z 0 // (mm)

#define SCARA_FEEDRATE_SCALING // Convert XY feedrate from mm/s to degrees/s on the fly

// Radius around the center where the arm cannot reach
#define MIDDLE_DEAD_ZONE_R 0 // (mm)

// Calculated from Calibration Guide and M360 / M114. See http://reprap.harleystudio.co.za/?page_id=1073
#define THETA_HOMING_OFFSET 0
#define PSI_HOMING_OFFSET 0
#endif

// Articulated robot (arm). Joints are directly mapped to axes with no kinematics.
//#define ARTICULATED_ROBOT_ARM

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*/
//#define SENSORLESS_PROBING

//
// For Z_PROBE_ALLEN_KEY see the Delta example configurations.
//
/**
* Allen key retractable z-probe as seen on many Kossel delta printers - https://reprap.org/wiki/Kossel#Automatic_bed_leveling_probe
* Deploys by touching z-axis belt. Retracts by pushing the probe down.
*/
//#define Z_PROBE_ALLEN_KEY
#if ENABLED(Z_PROBE_ALLEN_KEY)
// 2 or 3 sets of coordinates for deploying and retracting the spring loaded touch probe on G29,
// if servo actuated touch probe is not defined. Uncomment as appropriate for your printer/probe.

#define Z_PROBE_ALLEN_KEY_DEPLOY_1 { 30.0, DELTA_PRINTABLE_RADIUS, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_1_FEEDRATE XY_PROBE_FEEDRATE

#define Z_PROBE_ALLEN_KEY_DEPLOY_2 { 0.0, DELTA_PRINTABLE_RADIUS, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_2_FEEDRATE (XY_PROBE_FEEDRATE)/10

#define Z_PROBE_ALLEN_KEY_DEPLOY_3 { 0.0, (DELTA_PRINTABLE_RADIUS) * 0.75, 100.0 }
#define Z_PROBE_ALLEN_KEY_DEPLOY_3_FEEDRATE XY_PROBE_FEEDRATE

#define Z_PROBE_ALLEN_KEY_STOW_1 { -64.0, 56.0, 23.0 } // Move the probe into position
#define Z_PROBE_ALLEN_KEY_STOW_1_FEEDRATE XY_PROBE_FEEDRATE

#define Z_PROBE_ALLEN_KEY_STOW_2 { -64.0, 56.0, 3.0 } // Push it down
#define Z_PROBE_ALLEN_KEY_STOW_2_FEEDRATE (XY_PROBE_FEEDRATE)/10

#define Z_PROBE_ALLEN_KEY_STOW_3 { -64.0, 56.0, 50.0 } // Move it up to clear
#define Z_PROBE_ALLEN_KEY_STOW_3_FEEDRATE XY_PROBE_FEEDRATE

#define Z_PROBE_ALLEN_KEY_STOW_4 { 0.0, 0.0, 50.0 }
#define Z_PROBE_ALLEN_KEY_STOW_4_FEEDRATE XY_PROBE_FEEDRATE

#endif // Z_PROBE_ALLEN_KEY

/**
* Nozzle-to-Probe offsets { X, Y, Z }
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2 changes: 1 addition & 1 deletion config/default/Configuration_adv.h
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*
* Basic settings can be found in Configuration.h
*/
#define CONFIGURATION_ADV_H_VERSION 02010000
#define CONFIGURATION_ADV_H_VERSION 02010100

//===========================================================================
//============================= Thermal Settings ============================
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